Operator assistance system

ABSTRACT

A system having a controller is provided. The controller receives a signal indicative of an actual position and an actual orientation of a machine on a worksite, from a position detection module. The controller determines a first view of the machine on the worksite. The first view shows the actual position of the machine and a target position of the machine. The controller determines a second view of the machine on the worksite. The second view has a first and a second indicator. The first indicator is indicative of the actual position and the actual orientation of the machine. The second indicator is indicative of the target position and a target orientation of the machine. The controller displays any one of the first view and the second view based, at least in part, on the actual position of the machine relative to the target position on a display unit.

TECHNICAL FIELD

The present disclosure relates to an operator assistance system for amachine, and more specifically to a system for assisting an operator inmaneuvering the machine on a worksite.

BACKGROUND

Currently used rear parking assistance systems for vehicles include oneor more rear view cameras to provide a view rearwardly of the vehicle tothe operator. Additionally, proximity sensors may also be utilized inknown systems to indicate the presence of nearby obstacles and/ordistance of the vehicle from the obstacles. However, the known systemsdo not take into consideration a fixed location or target point on asite which is the final destination of the vehicle.

For example, U.S. Pat. No. 8,138,899 discloses a method for assisting abackup maneuver of a motor vehicle in which a first point of interest onthe vehicle is moved toward a second point of interest remote from thevehicle. The method displays a rear contextual view on an electronicdisplay visible to a driver of the vehicle. The rear contextual view isobtained from a rearward directed image sensor on the vehicle andincludes the first point of interest and the second point of interest.

SUMMARY OF THE DISCLOSURE

In one aspect of the present disclosure, a system for assisting anoperator to maneuver a machine on a worksite is provided. The systemincludes a position detection module configured to generate a signalindicative of an actual position and an actual orientation of themachine. The system also includes a display unit. The system furtherincludes a controller communicably coupled to the position detectionmodule and the display unit. The controller receives the signalindicative of the actual position and the actual orientation of themachine. The controller then determines a first view of the machine onthe worksite. The first view shows the actual position of the machineand the target position of the machine. The controller also determines asecond view of the machine on the worksite. The second view has a firstand a second indicator. The first indicator is indicative of the actualposition and the actual orientation of the machine. The second indicatoris indicative of the target position and a target orientation of themachine. The controller then displays any one of the first view and thesecond view based, at least in part, on the actual position of themachine relative to the target position.

In another aspect of the present disclosure, a method for assisting anoperator to maneuver a machine on a worksite is provided. The methodreceives a signal indicative of an actual position and an actualorientation of the machine. The method then determines a first view ofto the machine on the worksite. The first view shows the actual positionof the machine and the target position of the machine. The method alsodetermines a second view of the machine on the worksite. The second viewhas a first and a second indicator. The first indicator is indicative ofthe actual position and the actual orientation of the machine. Thesecond indicator is indicative of the target position and a targetorientation of the machine. The method then displays any one of thefirst view and the second view based, at least in part, on the actualposition of the machine relative to the target position.

Other features and aspects of this disclosure will be apparent from thefollowing description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exemplary machine, according to one embodiment of thepresent disclosure;

FIG. 2 is an overhead view of a worksite showing the machine and atarget position and a target orientation of the machine;

FIG. 3 is a block diagram of an operator assistance system;

FIGS. 4 and 5 are exemplary displays of a first view of the operatorassistance system;

FIGS. 6 to 8 are exemplary displays of a second view of the operatorassistance system; and

FIG. 9 is a flowchart of a method for assisting an operator to maneuverthe machine on the worksite.

DETAILED DESCRIPTION

Wherever possible, the same reference numbers will be used throughoutthe drawings to refer to the same or the like parts. FIG. 1 illustratesan exemplary machine 100, according to one embodiment of the presentdisclosure. More specifically, the machine 100 is a haul truck. Itshould be noted that the machine 100 may include any other industrialmachine including, but not limited to, a large mining truck, anarticulated truck, an off-highway truck and the like. In anotherembodiment, the machine 100 may be one of various types of machineryused in a number of industries such as mining, agriculture,construction, forestry, waste management, and material handling, amongothers.

Referring to FIG. 1, the machine 100 may include a frame and/or achassis 102. A dump body 104 may be fixedly or pivotally mounted on thechassis 102. The dump body 104 may be used for transportation ofmaterial like sand, gravel, stones, soil, excavated material, and thelike from one location to another on a worksite on which the machine 100is deployed.

Hydraulic and/or pneumatic cylinders 106 may be mounted on the chassis102 and connected to the dump body 104 to enable movement in the form oftilting of the dump body 104 with respect to the chassis 102 of themachine 100. A powertrain or a drivetrain (not shown) may be provided onthe machine 100 for the production and transmission of motive power. Thepowertrain may include an engine. An enclosure 108 may be provided onthe chassis 102 of the machine 100 which may house the engine. Theengine may be an internal combustion engine, a gas turbine, a hybridengine, a non-conventional power source like batteries, or any otherpower source known in the art. A set of ground engaging members 110,like wheels, may be provided to the machine 100 for the purpose ofmobility. The powertrain may further include a torque convertor,transmission inclusive of gearing, drive shafts, propeller shaft,differentials and other known drive links for transmission of motivepower from the engine to the ground engaging members 110. An operatorcabin 112 may be provided on the machine 100 which may house the variouscontrols of the machine 100.

The machine 100 described herein may be used for transportation ofmaterials and/or goods from one location to another on the worksite. Anexemplary worksite 200 is shown in FIG. 2. The worksite 200 may includethe machine 100 at a first position 202 on the worksite 200. It may berequired to maneuver the machine 100 to a second position 204 on theworksite 200. The second position 204 may include a target position 206and a target orientation 208 of the machine 100. The target position 206may be a fixed location on the worksite 200 which may typically includea loading or an unloading spot. Alternatively, the target position 206may also be a parking spot, a maintenance spot, a refueling spot, etc.or any other pre-decided destination of the machine 100 on the worksite200. The target orientation 208 may be an angular orientation and/or adirectional orientation indicative of a desired direction that themachine 100 should be aligned in.

Further, the machine 100 may include an operator assistance system 300,as shown in FIG. 3, which is configured to assist the operator inbacking up the machine 100 to the target position 206 and in the targetorientation 208 from the first position 202 on the worksite 200.Referring to FIG. 3, the operator assistance system 300 may include acontroller 302 communicably coupled to a position detection module 304.The position detection module 304 may be any one or a combination of aGlobal Navigation Satellite System, a Global Positioning System, anyother Satellite Navigation System, an Inertial Navigation System, anAugmented Navigation System or any other known positioning system. Theposition detection module 304 is configured to generate a signalindicative of an actual position and an actual orientation of themachine 100 on the worksite 200. The position detection module 304 ispresent on-board the machine 100.

As shown in FIG. 3, a database 306 may be communicably coupled to thecontroller 302 via a communication network (not shown). Thecommunication network may be implemented as a wired network, a wirelessnetwork or a combination thereof. The communication network may be, butnot limited to, a wide area network (WAN), a local area network (LAN),an Ethernet, Internet, an Intranet, a cellular network, a satellitenetwork, or any other suitable network for providing communicationbetween the database 306 and the controller 302.

The database 306 may contain data relating to the respective worksite200 on which the machine 100 is employed. The data stored in thedatabase 306 may include a site map, site terrain, and/or data relatingto other machines employed on the worksite 200. Further, the database306 may also store co-ordinates or location data related to the targetposition 206 of the machine 100 on the worksite 200. Additionally, thedatabase 306 may store data related to the target orientation 208 of themachine 100 on the worksite 200. In one embodiment, the target position206 and the target orientation 208 may be manually fed to the operatorassistance system 300. For example, the target position 206 and thetarget orientation 208 may be input by an operator via an operatorinterface device present on the machine 100. Alternatively, an on-boardsystem of the machine 100 may determine the target position 206 and thetarget orientation 208 based on, for example, the position, theorientation, and physical characteristics of the machine 100. In yetanother case, the on-board system on the machine 100 may be communicablyconnected to an off-board remote command station through a communicationsystem present on the machine 100. In this case, the controller 302 mayreceive the target position and the target orientation from the remotecommand station.

One of ordinary skill in the art will appreciate that the database 306may be any conventional or non-conventional database known in the art,like an oracle-based database. Moreover, the database 306 may be capableof storing and/or modifying pre-stored data as per operational anddesign needs. In one embodiment, the database 306 may be extrinsic tothe machine 100 and located at a remote location away from the machine100. Alternatively, the database 306 may be intrinsic to the machine100.

The controller 302 is configured to receive the signals indicative ofthe actual position and the actual orientation of the machine 100 fromthe position detection module 304. In one embodiment, the controller 302may retrieve the data associated with the worksite 200 from the database306 in order to determine the actual position and the actual orientationof the machine 100 on the worksite 200, and more specifically withrespect to the target position 206 and the target orientation 208 on theworksite 200.

Based on the received signal and the known sitemap of the worksite 200,the controller 302 is configured to determine a first view 400 of themachine 100 on the worksite 200. The first view 400 shows the actualposition and the actual orientation of the machine 100 on the worksite200 and the target position 206 and the target orientation 208 of themachine 100 on the worksite 200. The first view 400 will be described indetail in connection with FIGS. 4 and 5. Further, the controller 302 isalso configured to determine a second view 600 of the machine 100 on theworksite 200. The second view 600 is a zoomed in view of the actualposition and the actual orientation of the machine 100, also showing thetarget position 206 and the target orientation 208 of the machine 100 onthe worksite 200. The second view 600 will be explained in detail inconnection with FIGS. 6 to 8.

Furthermore, as shown in FIG. 3, a display unit 308 may be communicablycoupled to the controller 302. Based on the actual position of themachine 100 relative to the target position 206, the controller 302 isconfigured to display either the first view 400 or the second view 600of the machine 100 on to the worksite 200 on the display unit 308. Forexample, on reaching a pre-determined distance from the target position206, the view displayed on the display unit 308 may change from thefirst view 400 to the second view 600 and vice versa. Alternatively, thecontroller 302 may be configured to display both the first view 400 andthe second view 600, simultaneously, on the display unit 308 in a splitscreen arrangement. The display unit 308 is preferably located in theoperator cabin 112 of the machine 100. The display unit 308 may be anLCD device, an LED device, a CRT monitor, a touchscreen device or anyother known display device known in the art.

Optionally, in one embodiment, an image capturing device 310 may beprovided on the machine 100 and communicably coupled to the controller302. The image capturing device 310 may include a CCD camera, a CMOScamera, a night vision camera or any other image capturing and/orprocessing device known in the art. The image capturing device 310 maybe configured to provide a rearward view with respect to the machine100. Accordingly, the controller 302 may be configured to superimposethe generated second view 600 of the machine 100 on the worksite 200onto the feed received from the image capturing device 310, and displaythe same on the display unit 308.

Additionally, proximity sensors (not shown) like infrared sensors,ultrasonic sensors, laser sensors or the like may also be provided onthe machine 100. The proximity sensors may be configured to determinethe proximity of the machine 100 to obstacles present on the worksite200, such as, for example, personnel working on the worksite 200, othermachines, constructions like walls, pillars, etc., heaps of constructionmaterials on the worksite 200, and the like. These signals from theproximity sensors may be sent to the controller 302.

In another embodiment, a steering angle sensor (not shown in figures)may be installed on the machine 100 and communicably coupled to thecontroller 302. The steering angle sensor may be any one or acombination of an accelerometer, a compass, a magnetometer, a gyroscope,and the like. The steering angle sensor may be configured to sendsignals to the controller 302 indicative of the steering angle of themachine 100, dynamic orientation and/or a direction in which the machine100 is headed. The signal generated by the steering angle sensor,indicative of the actual orientation of the machine 100, may be sent tothe controller 302. Further, the controller 302 may include datareceived from the steering angle sensor in the first view 400 and/or inthe second view 600 of the machine 100 on the worksite 200.

Additionally, real time information like, but not limited to, actualposition and co-ordinates, the target position 206 and co-ordinates,distance from the nearby obstacles, distance from the target position206, steering angle, angle between the actual position and the targetposition 206 of the machine 100, preferred route of heading, deviationfrom the target orientation 208 and various other information may alsobe included in the first view 400 and/or the second view 600 anddisplayed on the display unit 308.

FIGS. 4-8 represent exemplary displays of the operator assistance system300. More specifically, FIGS. 4 and 5 represent first view 400 of themachine 100 on the worksite 200, which also includes the target position206 and the target orientation 208 of the machine 100. The targetposition 206 of the machine 100 is depicted as a dashed box 402 in theaccompanying figures. Further, the arrowhead 404 depicts the targetorientation 208 of the machine 100 in the target position 206.

FIGS. 4 and 5 depict different first views 400 shown to the operator onthe display unit 308 as the machine 100 backs up to the target position206 and in the target orientation 208 on the worksite 200. As shown inFIGS. 4 and 5, in this view, the actual position of the machine 100 maystay centered on the display. It should be understood that as the actualposition of the machine 100 on the worksite 200 changes, the display maychange such that position of the machine 100 remains centered relativeto the display. Moreover, in one embodiment, the first view 400 may alsoprovide information related to maneuvering the machine 100 to the targetposition 206 and in the target orientation 208. For example, thecontroller 302 may provide a suggestive path to reach the targetposition 206 from the actual position of the machine 100 on the worksite200.

Further, based on the actual position of the machine 100 relative to thetarget position 206, the controller 302 may display the exemplary secondview 600 relative to the machine 100, shown in FIGS. 6 to 8. Forexample, as the machine 100 backs up closer to the target position 206,at a pre-determined distance between the actual position of the machine100 and the target position 206, the display may change from the firstview 400 to that of the second view 600. In one embodiment, the displaymay change from the first view 400 to the second view 600 on engagementof a reverse gear of the machine 100. In another embodiment, anycombination of the distance between the actual position of the machine100 and the target position 206, difference between the actualorientation of the machine 100 and the target orientation 208 and/orengagement of the reverse gear of the machine 100 may be utilized tochange the display from the first view 400 to the second view 600.Alternatively, the operator may manually activate the change in viewsusing controls provided in the operator cabin 112.

Referring to FIGS. 6 to 8, the second view 600 includes a linearrepresentation of a rear end of the machine 100, and the target position206 and the target orientation 208 on the worksite 200. FIGS. 6 to 8depict the different second views 600 shown to the operator on thedisplay unit 308 as the machine 100 backs up to the target position 206and in the target orientation 208. As can be seen in the accompanyingfigures, the second view 600 includes a first indicator 606 and a secondindicator 608. The first indicator has a “T” shaped configurationincluding a first line 610 and a second line 612 made of continuouslines. The first line 610 may represent the rear end of the machine 100.The second line 612 may be perpendicular to and located at the midpointof the first line 610. The second line 612 may be indicative of theactual orientation of the machine 100. The first indicator 606 may be afixed representation of the machine 100, based on the actual positionand the actual orientation of the machine 100, relative to the worksite200. The location of the first indicator 606 in the second view 600 mayremain fixed on the display.

Similarly, a second indicator 608 configured in a “T” shape made ofbroken lines may be used for representing the target position 206 andthe target orientation 208 of the machine 100 on the worksite 200. Thesecond indicator 608 may include a first line 614 and a second line 616made of broken lines. The first line 614 may represent the targetposition 206 of the rear end of the machine 100. The second line 616 maybe perpendicular to and located at the midpoint of the first line 614.The second line 616 may be indicative of the target orientation 208 ofthe machine 100. The second indicator 608 may be a dynamicrepresentation on the display, that is, the position of the secondindicator 608 may change on the display as shown in FIGS. 6 to 8depending on the actual position of the machine 100 on the worksite 200.

It should be understood that the position of the first indicator 606 isfixed whereas position of the second indicator 608 changes as seen inFIGS. 6 to 8. The second indicator 608 moves closer to the firstindicator 606 and is indicative of the dynamic position of the machine100, as the machine moves closer to the target position 206 and in thetarget orientation 208. When the machine 100 reaches the target position206 and in the target orientation 208, the first indicator 606 maycoincide with the second indicator 608, as shown in FIG. 8.

In one embodiment, the dimensions of the first indicator 606 and/or thesecond indicator 608 may change to indicate the proximity of the machine100 to the target position 206. For example, as the machine 100 backs upcloser to the target position 206 and in the target orientation 208, thedimensions of the second indicator 608 may increase and finally becomeequal to that of the first indicator 606 as shown in FIGS. 6 to 8. Inanother embodiment, the colors and representation of the first indicator606 and the second indicator 608 may be changed as per system design andrequirement. For example, the first indicator 606 and the secondindicator 608 may be differentiated by the use of distinct colors. Inone embodiment, the colors and representation of the first indicator 606and the second indicator 608 may change to indicate the proximity of themachine 100 to the target position 206.

Additionally, the second view 600 may include distance information basedon the distance between the actual position of the machine 100 on theworksite 200, and the target position 206 of the machine 100. In otherwords, the distance information may be a real time distance, displayedin numerical units, between the first indicator 606 and the secondindicator 608. Further, the second view 600 may also include angleinformation based on the angle between the actual orientation of themachine 100 on the worksite 200 and the target orientation 208. In otherwords, the angle distance may be shown as a linear and/or a numericalrepresentation indicative of the real time angular deviation between theactual orientation of the machine 100 and the target orientation 208.

In one embodiment, the controller 302 may be configured to provideassistive feedback to the operator. For example, as the machine 100draws closer to the target position 206 and in the target orientation208, an assistive feedback system may provide visual or audio feedbackto the operator. The feedback may include information and instructionslike distance left to be covered to reach the target position 206,steering angle required to reach the target orientation 208, distancefrom any obstacles present around the machine 100, warning signals, etc.

It should be noted that additional modifications may be made to theoperator assistance system 300 and/or to the views 400, 600 representedon the display unit 308, other than the ones described herein, withoutdeparting from the intended scope of the disclosure.

INDUSTRIAL APPLICABILITY

Machines like haul trucks, mining trucks, tankers and the like need tobe loaded with materials in order to transport them. For loadingmaterials on the truck, the truck may be required to be positioned andoriented appropriately on a loading area like near a shovel, a conveyorunloading point, etc. Many a times, the truck requires to be backed upto the loading point. Current display systems installed on-board themachine do not provide the operator with any indication of an actualposition of the machine relative to the loading point.

The present disclosure provides the operator assistance system 300 whichmay assist in backing up the machine 100 to the target position 206 andin the target orientation 208, which the operator is made aware of bythe first and second views 400, 600 shown on the display unit 308. Oneof ordinary skill in the art will appreciate that in addition to themachine 100 mentioned herein, the operator assistance system may also beemployed on any construction, mining, agricultural, forestry or anyother industrial machine and personal vehicles.

At step 902, the controller 302 receives the signal indicative of theactual position and the actual orientation of the machine 100 onworksite 200, from the position detection module 304. The controller 302may then retrieve data relating to the site map of the respectiveworksite 302, on which the machine 100 is employed, from the database306. Based on the actual position and the actual orientation signals ofthe machine 100 received from the position detection module 304 and theworksite data retrieved from the database 306, the controller 302 maydetermine the exact current location of the machine 100 on the worksite200.

At step 904, based on the determined actual position and the actualorientation of the machine 100 on the worksite 200 and the worksite dataretrieved from the database 306, the controller 302 may determine thefirst view 400 to be displayed on the display unit 308. The first view400 includes the actual position and the actual orientation of themachine 100 on the worksite 200 and the target position 206 and targetorientation 208.

At step 906, the controller 302 may determine the second view 600relative to the machine 100. The second view 600 shows the firstindicator 606 and the second indicator 608. The first indicator 606 isindicative of the rear end of the machine 100. The second indicator 608is indicative of the target position 206 and the target orientation 208of the machine 100 on the worksite 200. The dimensions, colors andrepresentation of the first indicator 606 and the second indicator 608may change based on the distance of the machine 100 from the targetposition 206. In one embodiment, the controller 302 may impose thesecond view 600 on the images captured by the image capturing device310. This may provide a better detailing in the second view 600 with theinclusion of real time images of the worksite 200.

At step 908, any one of the first view 400 and the second view 600 isdisplayed on the display unit 308. The display may change from the firstview 400 to the second view 600 based on the proximity of the machine100 to the target position 206 on the worksite 200. Alternatively, thedisplay may change from the first view 400 to the second view 600 basedon difference between the actual orientation of the machine 100 and thetarget orientation 208, engagement of the reverse gear of the machine100 and/or voluntarily by the operator using additional controls on theoperator assistance system 300.

In addition, the controller 302 may also be configured to displayadditional information including actual position of the machine 100 andits co-ordinates, target position 206 and its co-ordinates, distancefrom the nearby obstacles, distance from the target position 206,steering angle, angle between the actual orientation of the machine 100and the target orientation 208, preferred route of heading and the likein the first view 400 and/or the second view 600.

While aspects of the present disclosure have been particularly shown anddescribed with reference to the embodiments above, it will be understoodby those skilled in the art that various additional embodiments may becontemplated by the modification of the disclosed machines, systems andmethods without departing from the spirit and scope of what isdisclosed. Such embodiments should be understood to fall within thescope of the present disclosure as determined based upon the claims andany equivalents thereof.

What is claimed is:
 1. A system for assisting an operator to maneuver a machine on a worksite, the system comprising: a position detection module configured to generate a signal indicative of an actual position and an actual orientation of the machine; a display unit; and a controller communicably coupled to the position detection module and the display unit, the controller configured to: receive the signal, indicative of the actual position and the actual orientation of the machine; determine a first view of the machine on the worksite, the first view showing the actual position of the machine and a target position of the machine; determine a second view of the machine on the worksite, the second view having a first and a second indicator, wherein the first indicator is indicative of the actual position and the actual orientation of the machine and the second indicator is indicative of the target position and a target orientation of the machine; and display any one of the first view and the second view based, at least in part, on the actual position of the machine relative to the target position.
 2. The system of claim 1 further comprising an image capturing device communicably coupled to the controller, the image capturing device configured to capture a view rearwardly of the machine.
 3. The system of claim 2, wherein the controller is further configured to receive, from the image capturing device, the view captured rearwardly of the machine.
 4. The system of claim 3, wherein the controller is configured to display the determined second view imposed on the view captured rearwardly of the machine.
 5. The system of claim 1 further comprising a steering angle sensor configured to generate a signal indicative of a steering angle of the machine.
 6. The system of claim 5, wherein the controller is further configured to determine the actual orientation of the machine based on the steering angle of the machine.
 7. The system of claim 1, wherein the second view further comprises distance information based on a distance between the actual position of the machine and the target position of the machine.
 8. The system of claim 1, wherein the second view further comprises angle information based on an angle between the actual orientation of the machine and the target orientation of the machine.
 9. The system of claim 1, wherein a color of any one of the first indicator and the second indicator is based on a distance between the actual position of the machine and the target position of the machine.
 10. The system of claim 1, wherein the first indicator includes a fixed representation based on the actual position and the actual orientation of the machine.
 11. The system of claim 1, wherein the second indicator includes a dynamic representation based on the target position and the target orientation of the machine.
 12. The system of claim 1, wherein the first indicator and the second indicator include a “T” shaped configuration.
 13. A method for assisting an operator to maneuver a machine on a worksite, the method comprising: receiving a signal indicative of an actual position and an actual orientation of the machine; determining a first view of the machine on the worksite, the first view showing the actual position of the machine and a target position of the machine; determining a second view of the machine on the worksite, the second view having a first and a second indicator, wherein the first indicator is indicative of the actual position and the actual orientation of the machine and the second indicator is indicative of the target position and a target orientation of the machine; and displaying any one of the first view and the second view based, at least in part, on the actual position of the machine relative to the target position.
 14. The method of claim 13 further comprising receiving a view captured rearwardly of the machine.
 15. The method of claim 13 further comprising displaying the determined second view imposed on the view captured rearwardly of the machine.
 16. The method of claim 13 further comprising displaying distance information in the second view, the distance information based on a distance between the actual position of the machine and the target position of the machine.
 17. The method of claim 13 further comprising displaying angle information in the second view, the angle information based on an angle between the actual orientation of the machine and the target orientation of the machine.
 18. A machine operating on a worksite, the machine comprising: a power source; a frame; a position detection module configured to generate a signal indicative of an actual position and an actual orientation of the machine; a display unit; and a controller communicably coupled to the position detection module and the display unit, the controller configured to: receive the signal indicative of the actual position and the actual orientation of the machine; determine a first view of the machine on the worksite, the first view showing the actual position of the machine and a target position of the machine; determine a second view of the machine on the worksite, the second view having a first and a second indicator, wherein the first indicator is indicative of the actual position and the actual orientation of the machine and the second indicator is indicative of the target position and a target orientation of the machine; and display any one of the first view and the second view based, at least in part, on the actual position of the machine relative to the target position.
 19. The machine of claim 18 further comprising an image capturing device communicably coupled to the controller, the image capturing device configured to capture a view rearwardly of the machine.
 20. The machine of claim 18, wherein the controller is configured to display the determined second view imposed on the view captured rearwardly of the machine. 